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https://github.com/RobTillaart/Arduino.git
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107 lines
2.5 KiB
C++
107 lines
2.5 KiB
C++
#pragma once
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//
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// FILE: PID_RT.h
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// AUTHOR: Rob Tillaart
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// VERSION: 0.1.3
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// PURPOSE: PID library for Arduino
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// URL: https://github.com/RobTillaart/PID_RT
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#include "Arduino.h"
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#define PID_LIB_VERSION (F("0.1.3"))
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class PID_RT
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{
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public:
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PID_RT();
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PID_RT(float sp, float Kp, float Ki, float Kd);
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void reset();
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void setPoint(float sp) { _setPoint = sp; };
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float getSetPoint() { return _setPoint; };
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bool compute(float input);
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float getOutput() { return _output; };
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// set PID controller on / off
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void start() { _running = true; };
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void stop() { _running = false; };
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bool isRunning() { return _running; };
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// reverse the behaviour (not implemented yet)
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void setReverse(bool reverse) { _reverse = reverse; };
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bool getReverse() { return _reverse; };
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// how often should one do the math
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bool setInterval(uint32_t interval);
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uint32_t getInterval() { return _interval; };
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// tune the output range, default 0..100
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void setOutputRange(float rangeMin, float rangeMax) { _rangeMin = rangeMin; _rangeMax = rangeMax; };
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float getOutputMin() { return _rangeMin; };
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float getOutputMax() { return _rangeMax; };
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// set the initial K values,
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// runtime updates are allowed - at your own risk
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bool setK(float Kp, float Ki, float Kd);
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bool setKp(float Kp);
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bool setKi(float Ki);
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bool setKd(float Kd);
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float getKp() { return _Kp; };
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float getKi() { return _Ki; };
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float getKd() { return _Kd; };
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// set Proportional on Input or on Error
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void setPropOnInput() { _POI = true; }; // default
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void setPropOnError() { _POI = false; };
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bool isPropOnInput() { return _POI == true; };
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bool isPropOnError() { return _POI == false; };
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// debugging
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float getInput() { return _input; };
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float getLastError() { return _error; };
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uint32_t getLastTime() { return _lastTime; };
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private:
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uint32_t _lastTime = 0;
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uint32_t _interval = 250;
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float _errorSum = 0.0;
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float _setPoint = 0.0;
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float _input = 0.0;
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float _lastInput = 0.0;
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float _error = 0.0;
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float _output = 0.0;
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float _rangeMin = 0.0;
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float _rangeMax = 100.0;
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float _Kp = 0.0;
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float _Ki = 0.0;
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float _Kd = 0.0;
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float __Kp = 0.0;
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float __Ki = 0.0;
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float __Kd = 0.0;
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bool _reverse = false;
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bool _running = false;
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bool _POI = true; // Proportional On Input - Error
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};
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// -- END OF FILE --
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